UI Robot Technology Co. Ltd.
M4220170607EN
Page 19
Miniature Integrated Stepper Motor Controller(
Closed-loop
)
UIM2842 has a build-in basic motion control system. User device can control the following
basic motion parameters through instructions in real-time: direction, speed, angular
displacement, phase current, micro-stepping, and enable/disable the H-bridge, etc. Speed
input range is +/-65,000 pulses/sec, and displacement input range is +/- 2,000,000,000
pulses.
Absolute Position Counter / Quadrature Encoder Interface
UIM2842 has a hardware pulse counter.
The counter can be reset either by user instruction
or automatically by the configurable sensor input event. Under most conditions, through
the advanced motion control, this counter can provide the absolute position of the motor
with enough accuracy. When the counter reaches zero position, there could be
automatically generated message feedback to the user device, given the corresponding
configuration through user instruction.
UIM2842 controller has Quadrature Encoder Interface and can work with quadrature
encoder when sensor input module is installed. Furthermore, with the encoder-based
closed-loop control module, the UIM2842 can perform self closed-loop control.
Real-time Change Notification (RTCN)
Similar to CPU’s interrupters, UIM2842 can automatically generate certain messages after
predefined events and sends them to the user device. The time is less than 1 millisecond
from the occurring of the event to the message being sent.
Message transfer time depends
on the baud rate of the RS232 setup. The transfer time will be less than 1 millisecond if the
baud rate is set to 115200. UIM2842’s RTCN system supports 12 events:
displacement
control done
absolution position reset; sensor 1/2/3 rising edge and falling edge; analog
input beyond upper threshold, analog input lower than lower threshold; and TTL status, etc.
All RTCNs can be enabled or disabled by instructions.
1.2 Advanced Motion Control Module
With advanced motion control module installed, UIM2842 controller can maintain linear
and non-linear acceleration/deceleration, S-curve displacement control, PT/PVT control,
auto direction control, etc. There are two ways to define acceleration/deceleration rate:
1. Value Mode: Input range: 1 ~ 65,000,000 PPS/Sec (pulse/sec2).
2. Period Mode: Input range: 1 ~60,000 milliseconds (time to fulfill the acceleration or
deceleration).
The input range of the displacement control is +/- 2 billion pulses (steps). In advanced
motion control mode, the actual direction is decided by module calculation. When
displacement is in place, there will be a RTCN (Instruction configurable). Advanced motion
control module can be disabled/enabled through user instruction.
1.3 Sensor Input Control Module
UIM2842’s Sensor Input Control Module supports 3 channels of sensor input. They can
accept a TTL level input of 0~5V. There is 1 channel can be configured as analog input
(Precision: 12bit; Sample frequency: 50K; mean of 16 calculation; Update frequency:
1000Hz). User can configure the desired automatic action triggered by sensor status
change.
There are 14 actions listed below that can be triggered by sensor event:
•
Start and run forwardly at preset-speed and acceleration
•
Start and run reversely at preset-speed and acceleration
•
Change direction and run at preset-speed and acceleration